The \(PegInsertion\)  skill starts when the end effector reaches the approach pose of the box. It uses four separate SkiROS primitive skills to 1) set the stiffness of the end effector to zero in (\(z\) ) direction, 2) apply a downward force in (\(z\) ) direction, 3) configure the center of the box as a goal and 4) additionally apply an overlaying circular search motion on top of the reference pose of the end effector as described in [1]}. The BT returns success only if the peg is inserted into the box hole by more than 0.01.
